EP0066629A1 - Safety mechanism for industrial robot - Google Patents
Safety mechanism for industrial robot Download PDFInfo
- Publication number
- EP0066629A1 EP0066629A1 EP82900037A EP82900037A EP0066629A1 EP 0066629 A1 EP0066629 A1 EP 0066629A1 EP 82900037 A EP82900037 A EP 82900037A EP 82900037 A EP82900037 A EP 82900037A EP 0066629 A1 EP0066629 A1 EP 0066629A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- robot
- industrial
- safeguard mechanism
- industrial robot
- switch actuator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J1/00—Manipulators positioned in space by hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/063—Safety devices working only upon contact with an outside object
Definitions
- the present invention relates to a safeguard mechanism of an industrial robot.
- Industrial robots are conventionally used in combination with diverse kinds of machines, such as machine tools, for the purpose of automatically conveying articles from a predetermined position to a machine, and vice versa.
- the industrial robots convey unmachined workpieces from workpiece tables to the machine tools and return the machined workpieces from the machine tools to the workpiece tables, without operator intervention.
- the industrial robots perform all the manipulating operations involved in the conveyance of articles in accordance with operating commands issued by a robot controller, the controller having been programmed with operating commands prior to the start of the manipulating operations.
- industrial robots occasionally, though very rarely, move out of control resulting in such accidents as the robot hands, attached to the outermost end of the robot arm of the industrial robots, striking an object or objects placed around the machines or striking the industrial robots themselves. Therefore, industrial robots are conventionally provided with such safeguards as brittle portions intentionally formed at positions adjacent to the connection of the robot hands to the robot arms, whereby the robot hands striking an object will immediately break only the brittle portions. When the breaking of the brittle portions is detected, the entire operation of the industrial robots is immediately stopped, ensuring the safety of the bodies of the industrial robots.
- the above-mentioned conventional safeguard suffers from the disadvantage that it takes a long time to repair the broken portions and restore the operating function of the industrial robots.
- An object of the present invention is to provide a novel safeguard mechanism for industrial robots which is distinctively different from the above-mentioned conventional mechanism employing the intentional formation of a brittle portion as part of industrial robots.
- Another object of the present invention is to provide a safeguard mechanism for industrial robots wherein any shock applied to the industrial robots due to the striking of the robot hands against any object creates a detection signal which immediately stops all operation of the industrial robots, thereby preventing any damage to the industrial robots and eliminating the need for adjustment of the position of the robot hands prior to restarting the industrial robots.
- Fig. 1 illustrates the general construction of an industrial robot into which a safeguard mechanism according to the present invention is incorporated
- the industrial robot 10 is provided at its lowermost part with a base 12 to be fixed to a floor surface.
- a vertical column 14 is mounted on the base 12 so as to extend upwardly.
- a vertical feed screw 16 rotatable about its own axis and a guide rod 18.
- the vertical column 14, the feed screw 16, and the guide rod 18 can all be turned in the direction shown by the arrow "A" with respect to the base 12.
- the rotation of the feed screw 16 about its own axis is controlled by an appropriate motor mounted in the interior of the base 12.
- a robot trunk 20 is mounted ori both feed screw 16 and guide rod 18.
- the robot trunk 20 is provided therein with a female screw portion engaging the feed screw 16 and with a bearing portion engaging the guide rod 18. Therefore, the rotation of the feed screw 16 vertically moves the robot trunk 20 in the direction shown by the arrow "B" guided by the guide rod 18.
- a manipulating arm 22 is incorporated in the robot trunk 20, said arm 22 being comprised of two horizontally extending rods 24 and a feed screw rod (not shown) arranged horizontally within the robot trunk 20.
- the manipulating arm 22 is provided, at its horizontal front end, with a bracket element 28.
- the manipulating arm 22 is capable of extending outwardly from the robot trunk 20 and retracting inwardly toward the robot trunk 20, in the direction shown by the arrow "C" in accordance with the rotation of the feed screw rod about its own horizontal axis.
- a control box 30 is attached to the side of the robot base 12 and forms a junction between the industrial robot 10 and a robot controller (not shown).
- a robot wrist 32 is attached to the bracket 28 of the manipulating arm 22, so as to be able to turn in the direction shown by the arrow "D".
- a robot hand 34 for grasping an article, such as a workpiece, is attached to the foremost end of the robot wrist 32 and is able to turn in the direction shown by the arrow "E".
- the robot hand 34 the outermost movable element of the industrial robot 10, can grasp and carry a workpiece (not shown) to and from an associated machine. It should be understood that although every movement of the industrial robot 10 is effected under the control of the robot controller, occasionally the industrial robot 10 may move out of control causing the robot hand 34 to strike some object disposed around the robot 10 and the machine. Accordingly, a safeguard mechanism embodying the present invention is incorporated into the industrial robot 10.
- Fig. 2 is a cut-away perspective view of the safeguard mechanism embodying the present invention.
- Fig. 3 is a cross-sectional view of the safeguard mechanism of Fig. 2, which is arranged between the wrist portion and the robot hand of the industrial robot.
- the safeguard mechanism according to the present invention is provided with a bracket 40 having a general shape of a box.
- This box-like bracket 40 has a rear plate 40b connected to the robot wrist 32 of the industrial robot 10, a front plate 40a connected to the robot hand 34 for gripping the workpiece, and a bottom plate 40c.
- a switch actuator 46 is stably supported by a pair of resilient means 42 and 44 between the front and rear plates 40a and 40b.
- the resilient means 42 and 44 are made of, for example, coil springs.
- the switch actuator 46 is held at a position where the spring force of the resilient means 42 is in equilibrium with the spring force of the resilient means 44.
- a limit switch 48 is fixedly mounted on the bottom plate 40c of the box-like bracket 40.
- the switch arm 48a of this limit switch 48 is abutted against the switch actuator 46 while the switch actuator 46 is held at the equilibrium position of the resilient means 42 and 44, whereby the limit switch 48 is kept at a closed state.
- the resilient means 42 and 44 may also be made of a pair of leaf springs or of appropriate rubber members, in addition to the pair of coil springs shown in Fig. 2. Further, the shape of the switch actuator 46 is not limited to that shown in Fig.
- One electric line 50 of.the limit switch 48 is connected to an electric power source of +24 electric volts via the control box 30 (Fig. 1) of the industrial- robot 10, while the other electric line 52 is connected to an emergency stop line in the robot controller via the control box 30.
- connection of the front plate 40a of the box-like bracket 40 to the robot hand 34 as well as the connection of the rear plate 40b of the box-like bracket 40 to the robot wrist 32 are conventional mechanical connections for the robot hand 34 and the robot wrist 32.
- the mechanical shock is transmitted from the robot hand 34 to the box-like bracket 40 of the safeguard mechanism.
- the switch actuator 46 held by the resilient means 42 and 44 within the box-like bracket 40 is moved up and down or right and left in accordance with the deformation of the resilient means 42 and 44.
- the switch actuator 46 then separates from and deactuates the switch arm 48a of the limit switch 48. This switches the limit switch 48 from the closed state to the open state and breaks the connection between the electric lines 50 and 52.
- the open state of the limit switch 48 is detected, and a signal indicative of an emergency stop is issued so as to immediately stop the manipulating operation of the industrial robot. All movement of the manipulating arm 22 (Fig. 1), the robot wrist 32, and the robot hand 34 of the industrial robot 10 are completely stopped. Thereafter, the operator clears the cause for the emergency stop of the manipulating operation of the industrial robot 10.
- the switch actuator 46 of the safeguard mechanism is returned to the equilibrium position and is engaged with the switch arm 48a of the limit switch 48 so as to actuate the switch arm 48a. This closes the limit switch 48 and cancels the emergency stop signal in the emergency stop line of the robot controller. The industrial robot 10 can then restart the manipulating operation.
- an industrial robot incorporating a safeguard mechanism of the present invention can immediately stop its manipulating operation upon detection of mechanical shock. Therefore, there is no intentional breakage of a part of the industrial robot, and as soon as the cause for the mechanical shock is cancelled, the manipulating operation of the industrial robot is automatically restarted. That is to say, according to the present invention, even if the industrial robot strikes against or collides with an object due to the industrial robot's uncontrolled movement, the industrial robot itself is not damaged. Thus, after the cause of the collision is cancelled, the industrial robot can restart its manipulating operation at once.
- Figs. 4 and 5 illustrate the other embodiments of the safeguard mechanism according to the present invention. From the illustration of Figs. 4 and 5, it will be understood that the switch actuator 46 is held by two or more pairs of resilient means. The safeguard mechanisms of Figs. 4 and 5 are obviously arranged between the robot hand and the robot wrist.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
- Safety Devices In Control Systems (AREA)
Abstract
A safety mechanism for an industrial robot, in which a switch actuator (46) is disposed between the arm and the hand of the industrial robot to sense mechanical impact relative to the arm or hand of the robot, and a fixedly disposed limit switch (48) which is ordinarily operated by the switch actuator and stops operation when the actuator senses a predetermined mechanical impact.
Description
- The present invention relates to a safeguard mechanism of an industrial robot.
- Industrial robots are conventionally used in combination with diverse kinds of machines, such as machine tools, for the purpose of automatically conveying articles from a predetermined position to a machine, and vice versa. For example, when the industrial robots are used in combination with machine tools, the industrial robots convey unmachined workpieces from workpiece tables to the machine tools and return the machined workpieces from the machine tools to the workpiece tables, without operator intervention. More specifically, the industrial robots perform all the manipulating operations involved in the conveyance of articles in accordance with operating commands issued by a robot controller, the controller having been programmed with operating commands prior to the start of the manipulating operations. However, industrial robots occasionally, though very rarely, move out of control resulting in such accidents as the robot hands, attached to the outermost end of the robot arm of the industrial robots, striking an object or objects placed around the machines or striking the industrial robots themselves. Therefore, industrial robots are conventionally provided with such safeguards as brittle portions intentionally formed at positions adjacent to the connection of the robot hands to the robot arms, whereby the robot hands striking an object will immediately break only the brittle portions. When the breaking of the brittle portions is detected, the entire operation of the industrial robots is immediately stopped, ensuring the safety of the bodies of the industrial robots. However, the above-mentioned conventional safeguard suffers from the disadvantage that it takes a long time to repair the broken portions and restore the operating function of the industrial robots. Moreover, after the completion of the repair of the broken portions, it is necessary to adjust the position of the robot hands with the robot arms before restarting the industrial robots, so as to enable reuse of the operating commands previously stored in the robot controllers without any correction. Failure to do so would result in inaccurate operation of the industrial robots. It should be noted that proper adjustment of the positions of robot hands and robot arms of industrial robots is rather difficult.
- An object of the present invention is to provide a novel safeguard mechanism for industrial robots which is distinctively different from the above-mentioned conventional mechanism employing the intentional formation of a brittle portion as part of industrial robots.
- Another object of the present invention is to provide a safeguard mechanism for industrial robots wherein any shock applied to the industrial robots due to the striking of the robot hands against any object creates a detection signal which immediately stops all operation of the industrial robots, thereby preventing any damage to the industrial robots and eliminating the need for adjustment of the position of the robot hands prior to restarting the industrial robots.
-
- Fig. 1 is a perspective view illustrating the general construction of an industrial robot into which a safeguard mechanism according to the present invention is incorporated;
- Fig. 2 is a cut-away perspective view of a safeguard mechanism according to the present invention;
- Fig 3 is a cross-sectional view of the same safeguard mechanism; and
- Figs. 4 and 5 are cut-away perspective views of the safeguard mechanism according to further embodiments of the present invention, respectively.
- Referring now to Fig. 1, which illustrates the general construction of an industrial robot into which a safeguard mechanism according to the present invention is incorporated, the
industrial robot 10 is provided at its lowermost part with abase 12 to be fixed to a floor surface. Avertical column 14 is mounted on thebase 12 so as to extend upwardly. At the near side of thevertical column 14, there are mounted on thebase 12, avertical feed screw 16 rotatable about its own axis and aguide rod 18. Thevertical column 14, thefeed screw 16, and theguide rod 18 can all be turned in the direction shown by the arrow "A" with respect to thebase 12. The rotation of thefeed screw 16 about its own axis is controlled by an appropriate motor mounted in the interior of thebase 12. Arobot trunk 20 is mounted ori bothfeed screw 16 andguide rod 18. More specifically, therobot trunk 20 is provided therein with a female screw portion engaging thefeed screw 16 and with a bearing portion engaging theguide rod 18. Therefore, the rotation of thefeed screw 16 vertically moves therobot trunk 20 in the direction shown by the arrow "B" guided by theguide rod 18. A manipulatingarm 22 is incorporated in therobot trunk 20, saidarm 22 being comprised of two horizontally extendingrods 24 and a feed screw rod (not shown) arranged horizontally within therobot trunk 20. The manipulatingarm 22 is provided, at its horizontal front end, with abracket element 28. The manipulatingarm 22 is capable of extending outwardly from therobot trunk 20 and retracting inwardly toward therobot trunk 20, in the direction shown by the arrow "C" in accordance with the rotation of the feed screw rod about its own horizontal axis. Acontrol box 30 is attached to the side of therobot base 12 and forms a junction between theindustrial robot 10 and a robot controller (not shown). Arobot wrist 32 is attached to thebracket 28 of the manipulatingarm 22, so as to be able to turn in the direction shown by the arrow "D". Arobot hand 34 for grasping an article, such as a workpiece, is attached to the foremost end of therobot wrist 32 and is able to turn in the direction shown by the arrow "E". From the foregoing description, it will be understood that since theindustrial robot 10 can move diversely as shown arrows "A" through "E", therobot hand 34, the outermost movable element of theindustrial robot 10, can grasp and carry a workpiece (not shown) to and from an associated machine. It should be understood that although every movement of theindustrial robot 10 is effected under the control of the robot controller, occasionally theindustrial robot 10 may move out of control causing therobot hand 34 to strike some object disposed around therobot 10 and the machine. Accordingly, a safeguard mechanism embodying the present invention is incorporated into theindustrial robot 10. - Fig. 2 is a cut-away perspective view of the safeguard mechanism embodying the present invention. Fig. 3 is a cross-sectional view of the safeguard mechanism of Fig. 2, which is arranged between the wrist portion and the robot hand of the industrial robot.
- The safeguard mechanism according to the present invention is provided with a
bracket 40 having a general shape of a box. This box-like bracket 40 has arear plate 40b connected to therobot wrist 32 of theindustrial robot 10, afront plate 40a connected to therobot hand 34 for gripping the workpiece, and abottom plate 40c. Inside the box-like bracket 40, aswitch actuator 46 is stably supported by a pair ofresilient means rear plates resilient means switch actuator 46 is held at a position where the spring force of theresilient means 42 is in equilibrium with the spring force of theresilient means 44. Alimit switch 48 is fixedly mounted on thebottom plate 40c of the box-like bracket 40. Theswitch arm 48a of thislimit switch 48 is abutted against theswitch actuator 46 while theswitch actuator 46 is held at the equilibrium position of theresilient means limit switch 48 is kept at a closed state. In the above--described safeguard mechanism of the present invention, theresilient means switch actuator 46 is not limited to that shown in Fig. 2, and may be of the shape of, for example, a ball, as long as theswitch actuator 46 is arranged so that it actuates theswitch arm 48a of thelimit switch 48 when it is held at the equilibrium position and that it deactuates theswitch arm 48a of thelimit switch 48 when it is shifted from the equilibrium position by the deformation of theresilient means electric line 50 of.thelimit switch 48 is connected to an electric power source of +24 electric volts via the control box 30 (Fig. 1) of the industrial-robot 10, while the otherelectric line 52 is connected to an emergency stop line in the robot controller via thecontrol box 30. At this stage, it should be understood that the connection of thefront plate 40a of the box-like bracket 40 to therobot hand 34 as well as the connection of therear plate 40b of the box-like bracket 40 to therobot wrist 32 are conventional mechanical connections for therobot hand 34 and therobot wrist 32. - The operation of the safeguard mechanism incorporated into the industrial robot will be described hereinbelow.
- While the
industrial robot 10 is performing its manipulating operations, if therobot hand 34 for gripping the workpiece contacts or strikes an object or a machine disposed around the industrial robot, the mechanical shock is transmitted from therobot hand 34 to the box-like bracket 40 of the safeguard mechanism. Theswitch actuator 46 held by theresilient means like bracket 40 is moved up and down or right and left in accordance with the deformation of theresilient means switch actuator 46 then separates from and deactuates theswitch arm 48a of thelimit switch 48. This switches thelimit switch 48 from the closed state to the open state and breaks the connection between theelectric lines industrial robot 10, the open state of thelimit switch 48 is detected, and a signal indicative of an emergency stop is issued so as to immediately stop the manipulating operation of the industrial robot. All movement of the manipulating arm 22 (Fig. 1), therobot wrist 32, and therobot hand 34 of theindustrial robot 10 are completely stopped. Thereafter, the operator clears the cause for the emergency stop of the manipulating operation of theindustrial robot 10. Theswitch actuator 46 of the safeguard mechanism is returned to the equilibrium position and is engaged with theswitch arm 48a of thelimit switch 48 so as to actuate theswitch arm 48a. This closes thelimit switch 48 and cancels the emergency stop signal in the emergency stop line of the robot controller. Theindustrial robot 10 can then restart the manipulating operation. - From the foregoing description, it will be understood that an industrial robot incorporating a safeguard mechanism of the present invention can immediately stop its manipulating operation upon detection of mechanical shock. Therefore, there is no intentional breakage of a part of the industrial robot, and as soon as the cause for the mechanical shock is cancelled, the manipulating operation of the industrial robot is automatically restarted. That is to say, according to the present invention, even if the industrial robot strikes against or collides with an object due to the industrial robot's uncontrolled movement, the industrial robot itself is not damaged. Thus, after the cause of the collision is cancelled, the industrial robot can restart its manipulating operation at once.
- Figs. 4 and 5 illustrate the other embodiments of the safeguard mechanism according to the present invention. From the illustration of Figs. 4 and 5, it will be understood that the
switch actuator 46 is held by two or more pairs of resilient means. The safeguard mechanisms of Figs. 4 and 5 are obviously arranged between the robot hand and the robot wrist.
Claims (3)
1. A safeguard mechanism provided for an industrial robot having a robot arm movably mounted on a robot trunk and a robot hand connected to the robot arm for gripping an article, such as a workpiece, said safeguard mechanism being arranged between said robot arm and said robot hand and comprising a first means for sensing a mechanical shock applied to either said robot arm or said robot hand and a second means for issuing a signal to stop all operations of said industrial robot when said first means senses said mechanical shock.
2. A safeguard mechanism according to claim 1, wherein said first means of said safeguard mechanism comprises a bracket member fixedly arranged between said robot arm and said robot hand and a switch actuator held by resilient means at a predetermined equilibrium position of said resilient means within said bracket member, wherein said second means comprises a limit switch fixed to said bracket member and closed by said switch actuator while said switch actuator is held at said predetermined equilibrium position.
3. A safeguard mechanism according to claim 2, wherein said bracket member has a back plate connected to said robot arm, a front plate connected to said robot hand, and a bottom plate on which said limit switch is fixedly mounted. wherein said resilient means comprises at least a pair of coil springs to hold said switch actuator at said predetermined equilibrium position between said front and back plates.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP173747/80 | 1980-12-11 | ||
JP55173747A JPS5911435B2 (en) | 1980-12-11 | 1980-12-11 | Industrial robot safety mechanism |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0066629A1 true EP0066629A1 (en) | 1982-12-15 |
EP0066629A4 EP0066629A4 (en) | 1983-04-06 |
Family
ID=15966376
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19820900037 Withdrawn EP0066629A4 (en) | 1980-12-11 | 1981-12-10 | Safety mechanism for industrial robot. |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP0066629A4 (en) |
JP (1) | JPS5911435B2 (en) |
KR (1) | KR850000488B1 (en) |
WO (1) | WO1982002019A1 (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0086432A2 (en) * | 1982-02-17 | 1983-08-24 | Siemens Aktiengesellschaft | Safety circuit for a free progammable industrial robot |
EP0125895A1 (en) * | 1983-05-10 | 1984-11-21 | Deep Ocean Engineering, Incorporated | Method and apparatus providing audible feedback to operators of remotely controlled manipulators |
GB2158806A (en) * | 1984-05-19 | 1985-11-20 | Kuka Schweissanlagen & Roboter | Safety device for manipulated appliances for switching off the motor drive in the event of a collision |
CN101670535B (en) * | 2008-09-08 | 2012-07-04 | 山崎马扎克公司 | Processing machine |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS58155193A (en) * | 1982-03-05 | 1983-09-14 | 富士通フアナツク株式会社 | Device for mounting and demounting hand of industrial robot |
JPS6048231U (en) * | 1983-09-07 | 1985-04-04 | 松尾電機株式会社 | chip electronic components |
JPS6117726U (en) * | 1984-07-04 | 1986-02-01 | 関西日本電気株式会社 | electronic components |
AT392078B (en) * | 1988-04-07 | 1991-01-25 | Chemie Linz Gmbh | LATEX-BASED FIRE PROTECTION |
JP2819456B2 (en) * | 1995-10-09 | 1998-10-30 | セイコー精機株式会社 | General purpose polishing equipment |
KR101023596B1 (en) * | 2009-03-13 | 2011-03-21 | 정재엽 | Fabrication system of U shape bolt for leaf spring fixing |
CN108797071A (en) * | 2018-06-21 | 2018-11-13 | 金华优地工业设计有限公司 | A kind of full-automatic clothes folding machine |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2881276A (en) * | 1956-05-01 | 1959-04-07 | Milton S Mintz | All-ways acceleration switch |
US3053948A (en) * | 1960-06-09 | 1962-09-11 | Gen Mills Inc | Collision preventer |
FR2296257A1 (en) * | 1974-12-27 | 1976-07-23 | Thomson Csf | Shock operated electric switch - has pendulous mass annular magnet and microswitch to release contactor |
US4099409A (en) * | 1977-07-05 | 1978-07-11 | The Bendix Corporation | Multi-axis load cell with arcuate flexures |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5032929Y1 (en) * | 1970-09-24 | 1975-09-25 | ||
US4283764A (en) * | 1979-10-12 | 1981-08-11 | Nordson Corporation | Manually programmable robot with power-assisted motion during programming |
-
1980
- 1980-12-11 JP JP55173747A patent/JPS5911435B2/en not_active Expired
-
1981
- 1981-12-10 KR KR1019810004837A patent/KR850000488B1/en active IP Right Grant
- 1981-12-10 EP EP19820900037 patent/EP0066629A4/en not_active Withdrawn
- 1981-12-10 WO PCT/JP1981/000377 patent/WO1982002019A1/en not_active Application Discontinuation
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2881276A (en) * | 1956-05-01 | 1959-04-07 | Milton S Mintz | All-ways acceleration switch |
US3053948A (en) * | 1960-06-09 | 1962-09-11 | Gen Mills Inc | Collision preventer |
FR2296257A1 (en) * | 1974-12-27 | 1976-07-23 | Thomson Csf | Shock operated electric switch - has pendulous mass annular magnet and microswitch to release contactor |
US4099409A (en) * | 1977-07-05 | 1978-07-11 | The Bendix Corporation | Multi-axis load cell with arcuate flexures |
Non-Patent Citations (1)
Title |
---|
See also references of WO8202019A1 * |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0086432A2 (en) * | 1982-02-17 | 1983-08-24 | Siemens Aktiengesellschaft | Safety circuit for a free progammable industrial robot |
EP0086432A3 (en) * | 1982-02-17 | 1985-05-22 | Siemens Aktiengesellschaft | Safety circuit for a free progammable industrial robot |
EP0125895A1 (en) * | 1983-05-10 | 1984-11-21 | Deep Ocean Engineering, Incorporated | Method and apparatus providing audible feedback to operators of remotely controlled manipulators |
GB2158806A (en) * | 1984-05-19 | 1985-11-20 | Kuka Schweissanlagen & Roboter | Safety device for manipulated appliances for switching off the motor drive in the event of a collision |
CN101670535B (en) * | 2008-09-08 | 2012-07-04 | 山崎马扎克公司 | Processing machine |
Also Published As
Publication number | Publication date |
---|---|
JPS5911435B2 (en) | 1984-03-15 |
EP0066629A4 (en) | 1983-04-06 |
KR830007233A (en) | 1983-10-19 |
JPS57102794A (en) | 1982-06-25 |
WO1982002019A1 (en) | 1982-06-24 |
KR850000488B1 (en) | 1985-04-11 |
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Legal Events
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PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
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17P | Request for examination filed |
Effective date: 19820804 |
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AK | Designated contracting states |
Designated state(s): DE FR GB |
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STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN |
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18D | Application deemed to be withdrawn |
Effective date: 19840419 |
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RIN1 | Information on inventor provided before grant (corrected) |
Inventor name: SAKAKIBARA, SHINSUKE Inventor name: NIHEI, RYO Inventor name: INABA, HAJIMU |